void GeneralizedHoughBase::detectImpl(InputArray image, OutputArray positions, OutputArray votes)
{
#ifndef HAVE_OPENCV_CUDAFILTERS
- (void) templ;
- (void) templCenter;
+ (void) image;
+ (void) positions;
+ (void) votes;
throw_no_cuda();
#else
calcEdges(image, imageEdges_, imageDx_, imageDy_);
UMat src = _src.getUMat();
- float irho = 1 / rho;
+ float irho = (float) (1 / rho);
int numangle = cvRound((max_theta - min_theta) / theta);
int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho);
+ ocl::Device dev = ocl::Device::getDefault();
// make list of nonzero points
const int pixelsPerWI = 4;
if (pointListKernel.empty())
return false;
- UMat pointsList(1, src.total(), CV_32SC1);
+ UMat pointsList(1, (int) src.total(), CV_32SC1);
UMat total(1, 1, CV_32SC1, Scalar::all(0));
pointListKernel.args(ocl::KernelArg::ReadOnly(src), ocl::KernelArg::WriteOnlyNoSize(pointsList),
ocl::KernelArg::PtrWriteOnly(total));
int total_points = total.getMat(ACCESS_READ).at<int>(0, 0);
if (total_points <= 0)
- return false;
+ {
+ _lines.assign(UMat(0,0,CV_32FC2));
+ return true;
+ }
// convert src to hough space
- group_size = (total_points + pixelsPerWI - 1)/pixelsPerWI;
- ocl::Kernel fillAccumKernel("fill_accum", ocl::imgproc::hough_lines_oclsrc,
- format("-D FILL_ACCUM -D GROUP_SIZE=%d", group_size));
+ group_size = min((int) dev.maxWorkGroupSize(), total_points);
+ int local_memory_needed = (numrho + 2)*sizeof(int);
+ ocl::Kernel fillAccumKernel;
+ globalThreads[0] = group_size; globalThreads[1] = numangle;
+ size_t* fillAccumLT = NULL;
+
+ UMat accum(numangle + 2, numrho + 2, CV_32SC1);
+
+ if (local_memory_needed > dev.localMemSize())
+ {
+ fillAccumKernel.create("fill_accum_global", ocl::imgproc::hough_lines_oclsrc,
+ format("-D FILL_ACCUM_GLOBAL"));
+ accum.setTo(Scalar::all(0));
+ }
+ else
+ {
+ fillAccumKernel.create("fill_accum_local", ocl::imgproc::hough_lines_oclsrc,
+ format("-D FILL_ACCUM_LOCAL -D LOCAL_SIZE=%d -D BUFFER_SIZE=%d", group_size, numrho + 2));
+ localThreads[0] = group_size; localThreads[1] = 1;
+ fillAccumLT = localThreads;
+ }
if (fillAccumKernel.empty())
return false;
- UMat accum(numangle + 2, numrho + 2, CV_32SC1, Scalar::all(0));
+ int linesMax = min(total_points*numangle/threshold, 4096);
+ UMat lines(linesMax, 1, CV_32FC2);
+ UMat lines_count(1, 1, CV_32SC1, Scalar::all(0));
+
fillAccumKernel.args(ocl::KernelArg::ReadOnlyNoSize(pointsList), ocl::KernelArg::WriteOnly(accum),
total_points, irho, (float) theta, numrho, numangle);
- globalThreads[0] = group_size; globalThreads[1] = numangle;
- if (!fillAccumKernel.run(2, globalThreads, NULL, false))
+
+ if (!fillAccumKernel.run(2, globalThreads, fillAccumLT, false))
return false;
- printf("GPU: \n");
- int sum = 0;
- Mat ac = accum.getMat(ACCESS_READ);
- for (int i=0; i<8; i++)
- {
- for (int j=0; j<8; j++)
- {
- sum += ac.at<int>(i, j);
- printf("%d ", ac.at<int>(i, j));
- }
- printf("\n");
- }
- printf("sum = %d\n", sum);
- return false;
+ ocl::Kernel getLinesKernel("get_lines", ocl::imgproc::hough_lines_oclsrc,
+ format("-D GET_LINES"));
+ if (getLinesKernel.empty())
+ return false;
+
+ globalThreads[0] = numrho; globalThreads[1] = numangle;
+ getLinesKernel.args(ocl::KernelArg::ReadOnly(accum), ocl::KernelArg::WriteOnlyNoSize(lines),
+ ocl::KernelArg::PtrWriteOnly(lines_count), linesMax, threshold, (float) rho, (float) theta);
+
+ if (!getLinesKernel.run(2, globalThreads, NULL, false))
+ return false;
+
+
+ int total_lines = min(lines_count.getMat(ACCESS_READ).at<int>(0, 0), linesMax);
+ if (total_lines > 0)
+ _lines.assign(lines.rowRange(Range(0, total_lines)));
+ else
+ _lines.assign(UMat(0,0,CV_32FC2));
+ return true;
}
}
}
}
-#elif defined FILL_ACCUM
+#elif defined FILL_ACCUM_GLOBAL
-__kernel void fill_accum(__global const uchar * list_ptr, int list_step, int list_offset,
+__kernel void fill_accum_global(__global const uchar * list_ptr, int list_step, int list_offset,
__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
int count, float irho, float theta, int numrho, int numangle)
{
}
}
+#elif defined FILL_ACCUM_LOCAL
+
+__kernel void fill_accum_local(__global const uchar * list_ptr, int list_step, int list_offset,
+ __global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
+ int count, float irho, float theta, int numrho, int numangle)
+{
+ int theta_idx = get_global_id(1);
+ int count_idx = get_local_id(0);
+
+ float cosVal;
+ float sinVal = sincos(theta * ((float)theta_idx), &cosVal);
+ sinVal *= irho;
+ cosVal *= irho;
+
+ __local int l_accum[BUFFER_SIZE];
+ for (int i=count_idx; i<BUFFER_SIZE; i+=LOCAL_SIZE)
+ l_accum[i] = 0;
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ __global const int * list = (__global const int*)(list_ptr + list_offset);
+ const int shift = (numrho - 1) / 2;
+
+ if (theta_idx < numangle)
+ {
+ for (int i = count_idx; i < count; i += LOCAL_SIZE)
+ {
+ const int val = list[i];
+ const int x = (val & 0xFFFF);
+ const int y = (val >> 16) & 0xFFFF;
+
+ int r = convert_int_rte(x * cosVal + y * sinVal) + shift;
+ atomic_inc(l_accum + r + 1);
+ }
+ }
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ __global int* accum = (__global int*)(accum_ptr + mad24(theta_idx + 1, accum_step, accum_offset));
+ for (int i=count_idx; i<BUFFER_SIZE; i+=LOCAL_SIZE)
+ accum[i] = l_accum[i];
+}
+
+#elif defined GET_LINES
+
+#define ACCUM(ptr) *((__global int*)(ptr))
+
+__kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
+ __global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index,
+ int linesMax, int threshold, float rho, float theta)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (x < accum_cols-2 && y < accum_rows-2)
+ {
+ __global uchar* accum = accum_ptr + mad24(y+1, accum_step, mad24(x+1, (int) sizeof(int), accum_offset));
+ __global float2* lines = (__global float2*)(lines_ptr + lines_offset);
+
+ int curVote = ACCUM(accum);
+
+ if (curVote > threshold && curVote > ACCUM(accum - sizeof(int)) && curVote >= ACCUM(accum + sizeof(int)) &&
+ curVote > ACCUM(accum - accum_step) && curVote >= ACCUM(accum + accum_step))
+ {
+ int index = atomic_inc(lines_index);
+
+ if (index < linesMax)
+ {
+ float radius = (x - (accum_cols - 3) * 0.5f) * rho;
+ float angle = y * theta;
+
+ lines[index] = (float2)(radius, angle);
+ }
+ }
+ }
+}
+
#endif
namespace cvtest {
namespace ocl {
-PARAM_TEST_CASE(HoughLinesTestBase, bool)
+struct Vec2fComparator
+{
+ bool operator()(const cv::Vec2f& a, const cv::Vec2f b) const
+ {
+ if(a[0] != b[0]) return a[0] < b[0];
+ else return a[1] < b[1];
+ }
+};
+
+PARAM_TEST_CASE(HoughLinesTestBase, double, double, int)
{
double rhoStep;
double thetaStep;
int threshold;
- bool useRoi;
+ Size src_size;
Mat src, dst;
UMat usrc, udst;
virtual void SetUp()
{
- rhoStep = 10;
- thetaStep = 0.5;
- threshold = 80;
- useRoi = false;
+ rhoStep = GET_PARAM(0);
+ thetaStep = GET_PARAM(1);
+ threshold = GET_PARAM(2);
}
virtual void generateTestData()
{
- //Mat image = readImage("shared/pic1.png", IMREAD_GRAYSCALE);
-
- Mat image = randomMat(Size(20, 10), CV_8UC1, 0, 255, false);
+ src_size = randomSize(500, 1000);
+ src.create(src_size, CV_8UC1);
+ src.setTo(Scalar::all(0));
+ line(src, Point(0, 100), Point(100, 100), Scalar::all(255), 1);
+ line(src, Point(0, 200), Point(100, 200), Scalar::all(255), 1);
+ line(src, Point(0, 400), Point(100, 400), Scalar::all(255), 1);
+ line(src, Point(100, 0), Point(100, 200), Scalar::all(255), 1);
+ line(src, Point(200, 0), Point(200, 200), Scalar::all(255), 1);
+ line(src, Point(400, 0), Point(400, 200), Scalar::all(255), 1);
- cv::threshold(image, src, 127, 255, THRESH_BINARY);
- //Canny(image, src, 100, 150, 3);
src.copyTo(usrc);
}
};
typedef HoughLinesTestBase HoughLines;
-OCL_TEST_P(HoughLines, RealImage)
+OCL_TEST_P(HoughLines, GeneratedImage)
{
- generateTestData();
+ for (int j = 0; j < test_loop_times; j++)
+ {
+ generateTestData();
- //std::cout << src << std::endl;
+ OCL_OFF(cv::HoughLines(src, dst, rhoStep, thetaStep, threshold));
+ OCL_ON(cv::HoughLines(usrc, udst, rhoStep, thetaStep, threshold));
- OCL_OFF(cv::HoughLines(src, dst, rhoStep, thetaStep, threshold, 0, 0));
- OCL_ON(cv::HoughLines(usrc, udst, rhoStep, thetaStep, threshold, 0, 0));
+ //Near(1e-5);
+ }
}
-OCL_INSTANTIATE_TEST_CASE_P(Imgproc, HoughLines, Values(true, false));
+OCL_INSTANTIATE_TEST_CASE_P(Imgproc, HoughLines, Combine(Values(1, 0.5), // rhoStep
+ Values(CV_PI / 180.0, CV_PI / 360.0), // thetaStep
+ Values(80, 150))); // threshold
} } // namespace cvtest::ocl
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